This is what you might call a de-ssistive device – it takes two perfectly good hands to operate one rather feeble (although slightly sinister) one. I’ve got this version configured as two 4-DOF (degree of freedom) fingers and one 2-DOF thumb. You can actuate particular flexures in a finger by running the tendons through holes in the outside corners, and not activate other flexures by running the tendons through holes in the center. I’ve biased all three fingers backwards with tendons running along the back side, and that are then attached to rubber bands.
download the files on: http://www.thingiverse.com/thing:1159915
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